A Continous Rotary Actuation Mechanism for a Powered Hip Exoskeleton
نویسندگان
چکیده
Follow this and additional works at: http://scholarworks.umass.edu/masters_theses_2 Part of the Biomechanical Engineering Commons, Biomechanics and Biotransport Commons, Biomedical Devices and Instrumentation Commons, Computer-Aided Engineering and Design Commons, Controls and Control Theory Commons, Electro-Mechanical Systems Commons, Robotics Commons, and the Systems and Integrative Engineering Commons
منابع مشابه
Influence of Power Delivery Timing on the Energetics and Biomechanics of Humans Wearing a Hip Exoskeleton
A broad goal in the field of powered lower limb exoskeletons is to reduce the metabolic cost of walking. Ankle exoskeletons have successfully achieved this goal by correctly timing a plantarflexor torque during late stance phase. Hip exoskeletons have the potential to assist with both flexion and extension during walking gait, but the optimal timing for maximally reducing metabolic cost is unkn...
متن کاملJoint Motion Control of a Powered Lower Limb Orthosis for Rehabilitation
Many patients with spinal injures are confined to wheelchairs, leading to a sedentary lifestyle with secondary pathologies and increased dependence on a carer. Increasing evidence has shown that locomotor training reduces the incidence of these secondary pathologies, but the physical effort involved in this training is such that there is poor compliance. This paper reports on the design and con...
متن کاملA Biomechanical Comparison of Proportional Electromyography Control to Biological Torque Control Using a Powered Hip Exoskeleton
BACKGROUND Despite a large increase in robotic exoskeleton research, there are few studies that have examined human performance with different control strategies on the same exoskeleton device. Direct comparison studies are needed to determine how users respond to different types of control. The purpose of this study was to compare user performance using a robotic hip exoskeleton with two diffe...
متن کاملA Comprehensive Human-body Dynamic Model towards the Development of a Powered Exoskeleton for Paraplegics
Kinematic and dynamic models of a human body are presented. The models intend to represent paraplegics wearing a powered exoskeleton. The proposed exoskeleton fully controls the motion of the hip and knee joints, i.e., each lower extremity contains four actuators, three at the hip joint and one at the knee joint. A spring-loaded ankle-foot orthosis completes the exoskeleton. The kinematic model...
متن کاملArchitecture and Hydraulics of a Lower Extremity Exoskeleton
Wheeled vehicles are often incapable of transporting heavy materials over rough terrain or up staircases. Lower extremity exoskeletons supplement human intelligence with the strength and endurance of a pair of wearable robotic legs that support a payload. This paper summarizes the design and analysis of the Berkeley Lower Extremity Exoskeleton (BLEEX). The anthropomorphically-based BLEEX has se...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2015